New answers tagged gyroscope
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It looks like you have most of what you need to output the Odometry message. The tutorial at http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom is probably the best practical resource.
The odometry message is a full 3D message. So you can simply fill in the other dimensions as zero (height, roll, and pitch) assuming that's accurate for your vehicle.
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